KR20210013076A - LIDAR system based on multi-channel laser module for simultaneous beam scanning in target environment - Google Patents

Abstract

FMCW LIDAR system for simultaneous beam scanning of target environment. The system can include a photonics assembly that can be combined into a beam steering module. The photonics assembly is configured to: receive a frequency modulated laser beam, and the optical system may include: an optical splitter and a coherent receiver. The optical splitter optically splits the frequency modulated laser beam into a local laser beam and a target laser beam, transmits the target laser beam to a beam steering module, and receives the target laser beam reflected by the target from the beam steering module. Can be configured. The coherent receiver may be configured to generate an output signal by mixing a local laser beam and a target laser beam.

Description

LIDAR system based on multi-channel laser module for simultaneous beam scanning in target environment

The patent application for this application was filed on May 10, 2018 in the U.S. Provisional Patent Application No. 62/669,803 (name: LIDAR system based on complementary modulation of multiple lasers and coherent receivers for simultaneous distance and velocity measurements) ; US Provisional Patent Application No. 62/669,801, filed May 10, 2018 (Name: Light Modulator and Coherent Receiver for Simultaneous Distance and Velocity Measurement); In addition, U.S. Provisional Patent Application No. 62/669,808 (name: LIDAR system based on multi-channel laser module for simultaneous beam scanning of target environment) filed on May 10, 2018, was issued by 35 U.S.C. It is based on the claim of priority in §　119(e).

The present invention application is also related to the following PCT applications, each of which was filed concurrently, and is incorporated herein by reference in its entirety: Attorney Docket No. 1403106.00028 (name of invention: light modulator and coherent receiver for distance and velocity measurements simultaneously); And Attorney Docket No. 1403106.00031 (Name of invention: LIDAR system based on complementary modulation of multiple lasers and coherent receivers for simultaneous distance and velocity measurements).

The present invention relates to the field of frequency modulated continuous wave (FMCW) optical detection and distance measurement (LIDAR) technology.

In general, the FMCW LIDAR system detects the distance range by measuring the interference between the optical signal from the local path and the target path. By sweeping the frequency of the laser, the interfering signal becomes a vibration with a frequency proportional to the target distance. The FMCW laser can be modulated to have a linear frequency sweep from low to high frequencies and then from high to low in a triangular manner.

Moving the reflectors may cause movement at the measured frequency in proportion to the speed of the reflector. To distinguish the difference between the reflector's distance and velocity effects, we can measure the interference frequency during a positive laser sweep and then measure the interference frequency during a negative frequency sweep.

The speed at which the measurement is reached can be important, and measuring twice to get speed can take twice as long as measuring distance alone. Thus, a method of discriminating a complementary frequency sweep and a method of using a multi-frequency modulated laser with a complementary frequency sweep combined can improve the measurement speed of the distance and velocity LIDAR sensor. The method of distinguishing the complementary frequency sweep solves the ambiguity problem in which the time delay and frequency shift effects cannot be sufficiently separated.

Also, in general, the FMCW LIDAR system uses a sweep source laser to measure distance and speed. The frequency of the reflected signal may be proportional to the distance of the target. The moving target moves the frequency of the reflected signal in proportion to the speed of the target due to the Doppler effect that can be measured simultaneously.

The beam steering module can scan a laser beam in a target environment. Multiple laser channels in an optical system may require multiple scanning elements to capture a larger field of view (FOV). How to allow multiple laser beams to share a scanning element can help reduce the complexity and cost of the system. Implementing this approach on an integrated photonic chip can further reduce system cost.

The present invention relates to a multi-channel FMCW LIDAR system for simultaneous beam scanning in a target environment.

The multi-channel FMCW LIDAR system uses a lens and a single beam steering module to scan a target scene with multiple light beams, thereby obtaining a higher resolution at a constant frame rate.

The multi-channel FMCW LIDAR system can be realized on a single integrated photonic chip with a multi-channel transceiver, where most of the discrete components are replaced by on-chip components. In locations close to the optical antenna, the coherent receiver module eliminates the need for a fiber optic circulator. By placing the photonic chip in the focal plane of the lens system, it creates multiple light beams directed at different angles. The beam steering module scans all beams simultaneously in multiple target environments.

1 is a diagram of an FMCW LIDAR system with modulation and detection in accordance with an aspect of the present invention.
2 is a graph illustrating the laser frequency as a function of time to determine the beat frequency used to simultaneously measure distance range and speed, in accordance with one aspect of the present disclosure.
3 is a graph illustrating power-spectrum-density (PSD) measurements performed using an output channel of a photo receiver as a function of frequency in accordance with an aspect of the present invention.
4 is a diagram showing a laser bank including N lasers and Nx1 non-interfering couplers according to one aspect of the present invention.
5 is a diagram illustrating an FMCW LIDAR system with Nx1 laser bank and coherent detection in accordance with an aspect of the present invention.
6 is a graph illustrating the laser frequency as a function of time to determine the beat frequency used to simultaneously measure distance range and speed, in accordance with one aspect of the invention.
7 is a graph illustrating power-spectrum-density (PSD) measurements performed using an output channel of a photo receiver as a function of frequency in accordance with an aspect of the present invention.
8A is a first implementation diagram of a target arm of an interferometer according to an aspect of the present invention.
8B is a second implementation diagram of a target arm of an interferometer according to an aspect of the present invention.
8C is a diagram of a third implementation of a target arm of an interferometer in accordance with an aspect of the present invention.
9 is a diagram of a multi-channel FMCW LIDAR system according to an aspect of the present invention.
10A is a diagram of a first embodiment of a beam steering module in which a single scanner directs multiple laser beams according to an aspect of the present invention.
10B is a diagram of a second embodiment of a beam steering module in which multiple scanners direct laser beams, in accordance with one feature of the present invention.
11A is a diagram of a multi-channel FMCW LIDAR transceiver system implemented on an integrated photonic chip in accordance with an aspect of the present invention.
11B is a diagram of a first embodiment of coherent reception used in the system illustrated in FIG. 11A, according to an aspect of the present invention.
11C is a diagram of a second embodiment of coherent reception used in the system illustrated in FIG. 11A, according to an aspect of the present invention.
12A is a diagram illustrating an integrated photonic chip configured to emit a laser beam from an on-chip antenna in a first direction in accordance with an aspect of the present invention.
12B is a diagram illustrating an integrated photonic chip configured to emit a laser beam from an on-chip antenna in a second direction in accordance with an aspect of the present invention.
13 is a diagram of a beam steering module arrangement and scanning pattern for a multi-channel FMCW LIDAR system implemented on an integrated photonic chip according to an aspect of the present invention.

Optical modulator and coherent receiver for simultaneous range and velocity measurements

1 is a block diagram illustrating an embodiment of an FMCW LIDAR system according to an aspect of the present invention. In this embodiment, the system includes a laser 1 coupled to a laser modulator 2 (eg, a light intensity modulator). The laser modulator 2 is for example configured to modulate the intensity or amplitude of a laser beam output by the laser 1. The system may further comprise a splitter 3 (eg, a 2x2 splitter or coupler). The output light from the laser modulator 2 can be injected into a splitter 3 configured to separate the light into two paths (eg, using a directional coupler or a multimode interferometer). The system may further comprise a coupler 5 (eg, a 2x4 coupler or a coupler). Some of the light produced by the laser 1 (modulated by the laser modulator 2) can be coupled directly to one input of the combiner 5 via a splitter 3. The rest of the light generated by the laser 1 is through the target path to the target arm 4 (examples described below with respect to FIGS. 8A-8C) before being coupled to the other input of the combiner 5, the splitter. Via (3), it can be coupled to another input of the combiner (5). In one embodiment, the combiner 5 is implemented as a "optical hybrid" or "90 degree optical hybrid", which splits the light beam into four paths to be detected by a four-channel photo receiver 6, also called an "IQ detector". Is configured to The optical hybrid is configured to receive two optical signals (S and L) and in response to generate four output signals: S + L, S-L, S + jL, and S-jL (j is an imaginary number). The output of the I-Q detector 6 can be in the form of two electrical signals, an I-channel 7 and a Q-channel 8. The system may further comprise a control circuit 9 connected to the I-Q detector 6. The control circuit 9 must be configured to process I and Q channels 7 and 8 simultaneously.

2 is a graph illustrating the laser frequency as a function of time describing an exemplary generation of a signal at the output of the I-Q detector 6 in accordance with one aspect of the present disclosure. In this example, the modulator 2 is configured to generate laser light using double-sided band frequency modulation. According to one feature of the invention, the modulator 2 can be configured to transmit the upper sideband 10 and the lower sideband 11 directly to the combiner 5, which is realized as an optical hybrid as mentioned above. Can be. Further, the modulator 2 may be configured to transmit the upper sideband 10 and the lower sideband 11 through the target path towards the target, and the distance between the system and the target before being received by the combiner 5 Both a time delay 12 due to and a frequency shift 13 due to movement by the target are generated. The received upper sideband 14 and the received lower sideband 15 may be combined with the upper sideband 10 and the transmitted lower sideband 11 transmitted from the combiner 5. Interference between the transmitted upper sideband 10 and the received upper sideband 14 can produce a beat frequency equal to their separation 16 at the laser frequency. Further, the interference between the transmitted lower sideband 11 and the received lower sideband 15 may likewise produce the same beat frequency as their separation 17 at the laser frequency.

In this embodiment, the I- and Q- channels 7 and 8 generated by the combiner 5 may be summed to generate a complex-valued signal I + jQ (j is an imaginary number). The power spectral density (PSD) of such a complex sum is illustrated in an exemplary Fig. 3, and Fig. 3 is a power spectral density (PSD) performed using the output channel of the IQ detector as a function of frequency according to an aspect of the present invention. It is a graph illustrating the measurement. PSD measurements are processed (e.g., by the control circuit 9) to calculate an estimate of the distance range and speed of the object without the need for continuous measurements. The PSD may have a first peak value 18 at a first frequency value 16 (shown similarly in FIG. 2) and a second peak value 19 at a second frequency value (shown similarly in FIG. 2). . In this example, the first frequency value 16 is positive and the negative frequency value 17 is negative. The first frequency value 16 is shifted from the first nominal frequency value 20 (also referred to as "nominal beat frequency"). The second frequency value 17 is shifted from the second nominal frequency value 21 which is the opposite sign of the first nominal frequency value 20. According to one feature of the invention, the control circuit 9 can be configured to calculate the nominal beat frequency 20 by subtracting the second frequency value 17 from the first frequency value 16 and dividing by two. . Further, the control circuit 9 may be configured to calculate the frequency shift of the signal away from the frequency value 20 by adding and dividing the first frequency value 16 and the second frequency value 17 by two. The nominal beat frequency 20 may be proportional to the target distance (ie, the distance from the emitter of the system to the target), while the frequency shift may be proportional to the target speed (ie, the speed at which the target is moving). When the target moves in a direction opposite to the example shown in FIGS. 2 and 3, the measured peaks 18 and 19 may be moved in the opposite direction. Thus, this can lead to other signed values for the frequency shift, but the nominal beat frequency can still be calculated as the frequency value 20.

Complementary modulation of multiple lasers and coherent receivers for simultaneous distance range and velocity measurements

4 is a diagram of a laser bank comprising N lasers and Nx1 non-coherent couplers according to one feature of the present invention, which may consist of as few as two lasers. Among various features, N can be any integer greater than 1. In this example, the system of the present invention may include a first laser driver 51 coupled to and directly modulating the first laser 52. The system of the present invention may further include a second laser driver 53 coupled to the second laser 54 to directly modulate the second laser independently of the first laser driver 51. Such a configuration may include a laser pair (55). The laser pair 55 may be repeated several times as described by the second laser pair 60 in the specific example of the system shown in FIG. 4. Each of the lasers can be coupled into a single waveguide through an Nx1 optical coupler 61. In one feature of the invention, the first laser 52 can be modulated to emit a laser beam with a positive frequency sweep and the second laser 54 can be modulated simultaneously to emit a laser beam with a negative frequency sweep. I can. The Nx1 optical coupler 61 may be configured to generate a laser field from each laser beam generated by the lasers 52, 54, 57, 59. The laser field generated from the laser beam with positive and negative frequency sweep is then output by the laser bank.

5 is a diagram showing an FMCW LIDAR system with an Nx1 laser bank 62 and coherent detection in accordance with an aspect of the present invention. In such an embodiment, the system includes a laser bank 62 (also referred to as a “laser array”), such as the laser bank shown in FIG. 4. In one feature of the invention, the system further comprises an optical coupler 63 (e.g., 2x2 optical couplers) coupled to the laser bank 62, the optical coupler from the laser bank 62 (e.g. For example, it is configured to split the light (i.e. laser field) using a directional coupler or a multimode interferometer. The system may further comprise a coupler 65 (e.g., a 2x4 coupler or coupler). . Some or some of the light generated by the laser bank 62 is via the coupler 63, before being coupled to the coupler 65, through the target arm 64 (examples of which are shown in Figs. Can be transmitted as described below). The rest or the rest of the light generated by the laser bank 62 may be directly coupled to the coupler 65 through a coupler 63. In one feature of the present invention, the optical coupler 65 can be realized as an "optical hybrid", in which the optical hybrid divides the light to be detected by the 4-channel photo receiver 66, also referred to as "IQ detector", into four paths. Is configured to The optical hybrid is configured to receive two optical signals (S and L) and in response to generate four output signals: S + L, S-L, S + jL, and S-jL (j is an imaginary number). The output of I-Q detector 66 may be in the form of two electrical signals, I-channel 67 and Q-channel 68. The system of the present invention may further comprise a control circuit 69 connected to the I-Q detector 66. The control circuit 69 can be configured to process the I- and Q-channels 67 and 68 simultaneously.

6 is a graph illustrating the laser frequency as a function of time illustrating an exemplary generation of a signal at the output of I-Q detector 66 in accordance with one aspect of the present invention. In particular, FIG. 6 is similar to the graph shown in FIG. 2. However, in this embodiment, the laser bank 62 is configured to generate two optical frequency sweeps simultaneously. According to one feature of the present invention, the coupler 63 may be configured to directly transmit or transmit the first portion of the positive sweep 70 and the negative sweep 71 to the coupler 65, which is a light source as described above. It can be implemented as an optical hybrid. In addition, the coupler 63 may be configured to transmit the second portion of the positive sweep 70 and the negative sweep 71 through the target path, and the time delay 72 due to the distance between the system and the target and and the combiner It causes both frequency shifts due to target movement before being received by (65). The received positive sweep 74 and the received negative sweep 75 may be combined with the positive sweep 70 and the transmitted negative sweep 71 transmitted from the combiner 65. Interference between the transmitted and received positive sweeps 70 and 74 may produce a beat frequency equal to the separation at laser frequency 76. Further, the interference between the transmitted and received negative sweeps 71 and 75 may likewise produce the same beat frequency as the separation 77 in the laser frequency.

In this example, the I- and Q- channels 67 and 68 generated by the combiner 65 may be summed to generate a complex value signal, I + jQ (where j is an imaginary number). The power spectral density (PSD) of such a complex number may be illustrated in FIG. 7. 7 is a graph illustrating power spectral density (PSD) measurements performed using the output channel of an I-Q detector as a function of frequency in accordance with one aspect of the invention. PSD measurements are processed (eg, by control circuit 69) to yield estimates of the target's range and speed without the need for continuous measurements. PSD is the first peak value 78 at the first frequency value 76 (similar to that indicated in FIG. 6) and the second peak value 79 at the second frequency value 77 (similar to that indicated in FIG. 6). ). In this example, the first frequency value 76 is positive and the negative frequency value 77 is negative. The first frequency value 76 is shifted from the first nominal frequency value 80 (also referred to as “nominal beat frequency”). The second frequency value 77 is shifted from the second nominal frequency value 81 which is the opposite sign of the first nominal frequency value 80. In one aspect of the invention, the control circuit 69 may be configured to calculate the nominal beat frequency 80 by subtracting the second frequency value 77 from the first frequency value 76 and dividing by two. Further, the control circuit 69 may be configured to calculate the frequency shift of the signal away from the frequency value 80 by adding and dividing the first frequency value 76 and the second frequency value 77 by two. The nominal beat frequency 80 may be proportional to the target distance (ie, the distance from the emitter of the system to the target), while the frequency shift may be proportional to the target speed (ie, the speed at which the target is moving). When the target moves in the opposite direction to the examples shown in FIGS. 6 and 7, the measured peaks 78 and 79 may be moved in the opposite direction. Thus, this can lead to a different sign value for the frequency shift, but the nominal beat frequency can still be calculated as the frequency value 70.

Target Arm Assemblies

8A-8C illustrate three exemplary implementations of target arms, such target arms may be used with any of the systems described above with respect to FIGS. 1-7. In such various implementations, the light may be coupled to the coaxial optical transceiver through discrete optical fiber components such as fiber optic circulators or 2x2 couplers (such as directional couplers or multimode interferometers). Further, the light may be formed and manipulated by a lens coupled with mechanical scanning, or may be formed and manipulated by an integrated optical transceiver. Each exemplary implementation described in FIGS. 8A-8C includes a coaxial optical transceiver, wherein the input light is coupled to the scanning optics, transmitted to the target object, received by the same scanning optics, and the target arm ( 4, 64). In the first embodiment of the target arm shown in FIG. 8A, the input light is delivered to the input arm 501 of the optical fiber circulator 502. The first output light of the optical fiber circulator 502 is transmitted to the optical fiber surface 503 and the output beam is formed by the optical device 504. The formed beam is a scanning optics device 505 (eg, a current measuring scanning mirror or a MEMS-based scanning mirror). Is transmitted through. The adjusted and formed beam 506 is transmitted to a target that reflects some of the light. The scanning optics 505 can be used to receive the reflected light and the optics 504 can be used to focus the received light back onto the optical fiber surface 503. The input light from the optical fiber surface 503 is passed back to the optical fiber circulator 502 and is connected to the output 507 of the optical fiber circulator 502.

In the second embodiment implementation of the target arms 4, 64 shown in FIG. 8B, the optical fiber circulator 502 output is delivered to an integrated photonic device 508 that forms an output beam 509 and directs it to the target. . The same integrated photonic device 508 is used to receive the light reflected by the target, and the received light is then passed back to the fiber circulator 502 so that the received light is output 507 of the fiber circulator 502. ).

In the third embodiment implementation of the target arms 4, 64 shown in Fig. 8C. The input light is transmitted to the input arm 510 of the optical coupler 511 (eg, 2x2 coupler). The output of the 2x2 coupler 511 is delivered to an integrated photonic device 508 that forms an output beam 509 and is directed to a target. The same integrated photonic device 508 is used to receive the light reflected by the target, and then, the received light is transmitted back to the 2x2 coupler 511 so that the received light is transferred to the 2x2 coupler 511. To be coupled to the output 512 of. In one feature of the present invention, the 2x2 coupler 511 may be implemented, for example, as an optical fiber coupling module or an integrated photonic component (such as a directional coupler or multimode interferometer), which is an integrated photonic device 508 Can be manufactured with

Multi-Channel Frequency Modulated Continuous Wave LIDAR System

9 is a diagram of an exemplary multi-channel FMCW LIDAR system in accordance with an aspect of the present invention. In one aspect of the invention, the system may include a laser module 211 having N laser diodes 212, where N is an integer greater than or equal to 2 coupled to the photon assembly 228. In the illustrated example, the system includes a single pair of laser diodes 212 (ie, N = 2). In the following description, the system will primarily be discussed in connection with having two or a pair of laser diodes 212. However, it should be understood that this is for brevity only and is not limiting. According to one aspect of the invention, the system further includes a laser drive 227 coupled to the laser module 211 and a control circuit 218 coupled to the laser driver 227 to generate a laser beam. In this example, laser diode 212 is modulated by a signal from laser driver 227, and the laser driver is controlled by control circuit 218 to generate a frequency sweep waveform from each of the laser diodes 212. Let it be. The two outputs from the laser diode 212 are separate but go through the same paths 215, 216, where each path 215, 216 includes an interferometric structure for frequency measurement. The system also further includes an optical power tap 214 (also referred to as a “optical splitter”) connected to each of the paths 215 and 216. The optical power tap 214 is a "target" path 221 (optical power) leading to the light output received from the laser diode 212 to the beam steering module 229 (and indirectly to the coherent receiver 220). At the first port of the tab 214) and to the “local” path 213 (at the second port of the optical power tap 214). In the above described features, the target path 221 includes an optical circulator 217. As another feature, the target path 221 may include a directional coupler instead of the optical circulator 217. The optical circulator 217 (or directional coupler) is configured to direct the outgoing beam 223 to the steering module 229, and directs the returning beam 222 to the signal port of the coherent receiver 220. In the illustrated feature, the local path 213 is connected directly to the local oscillator (LO) port of the coherent receiver 220. Accordingly, each of the coherent receivers 220 includes a first or target laser beam and a second or local laser beam directly reflected from the target from the laser module 211 generated from the laser module 211, each of the laser diodes 212. Is configured to receive. In one aspect of the invention, the optical power tap 214, circulator 217 and each coherent receiver 220 may be collectively referred to as an “optical system”. Although the photonics assembly 228 shown in FIG. 9 includes two optical systems, this is only exemplary and the photonics assembly 228 may include n optical systems, where n is an integer greater than zero.

In one feature of the system shown in FIG. 9, the coherent receiver 220 has two optical signals (i.e., the returning beam 222 and the local beam delivered through the local path 213) via an optical hybrid structure. May be configured to generate two electrical signals by mixing and supplying them to two pairs of balanced photodiodes referred to as “I-channel” 24 and “Q-channel” 27. In an alternative feature of the system, the coherent receiver 220 can be configured to generate a single electrical signal by mixing two optical devices via an optical coupler and feeding them to a single pair of balanced photodiodes. An example of such a coherent receiver 220 is shown in Fig. 11B and described below. These signals are digitized by an analog-to-digital converter (ADC) 225 and can be simultaneously processed through digital signal processing (DSP) 224 on or through a control circuit. Separate but identical paths 215 and 216 lead from beam steering module 229 to beam_1 and beam_2, respectively. All or part of the components, modules, and/or circuits of the photonics assembly 228 may include, but are not limited to, a silicon photonic chip or a planar light wave circuit (PLC), such as the chip shown in FIGS. 11A to 12B. It can be implemented on a nick chip.

10A and 10B illustrate two examples of alternative arrangements for the beam steering module 229 according to various features of the present invention. In this inventive feature shown in FIG. 10A, the beam steering module 229 is a bundle of free space interfaces 37 configured to receive a laser beam arriving from the circulator 39 of the photonics assembly 228 (FIG. 9 ). Includes. The beam steering module 229 further includes an optical lens system 35 that receives the laser beam from the free space interface 37 and projects the laser beam to the single beam scanner 36. With the help of the optical lens system 35, different beams can cover the expanded FOV in one or two dimensions. In one feature of the invention, the free space interface 37 is disposed on the focal plane of the optical lens system 35 and is configured to transmit and receive optical signals at the same or different angles.

In the alternative example shown in Fig. 10B. The beam steering module 229 includes a multiple free space interface 37, a multiple optical lens system 35 and a multiple beam scanner 36. In this embodiment, the laser beam arriving from the circulator 39 of the photonics assembly (FIG. 9) enters the beam steering module 229 and each enters the optical lens system 35 through the free space interface 37, Here, the beams are projected by multiple scanners 36 and aimed at the target environment in different directions to cover a large FOV of one or two sizes.

The multi-channel architecture shown in Fig. 9 and the beam steering module 229 shown in Figs. 10A and 10B are implemented in an integrated photonic chip to greatly reduce the size and cost of the FMCW LIDAR system. 11A illustrates an implementation of an integrated photonic chip 101 with an on-chip multi-channel FMCW LIDAR transceiver. According to one feature of the invention, the integrated photonic chip 101 receives a frequency modulated optical signal (e.g., generated by the laser module 211 according to the laser drive 227), and the optical distribution network 103 ) (E.g., a binary tree structure) to a parallel slice transceiver through a series of on-chip couplers. Each of the transceiver slices is composed of a coherent receiver (CR) 104 and an optical antenna 105. Figures 11b and 11c show two versions of CR, for example. The optical distribution network 103 is configured to provide the received light (eg, a frequency modulated laser beam) to the first line 123 (ie, optical input) of the CR 104. The CR further includes a splitter 122 (eg, a 2x2 bidirectional splitter). Such a splitter is configured to split the light into a first output directed through the second line 125 and a second output directed through the third line 126. The second line 125 is coupled to the optical antenna 105; Accordingly, the CR 104 is configured to direct the second output from the chip using the optical antenna 105. Further, since the optical antenna 105 is mutual, it is configured to collect the reflected beam from the object (target) and send the reflected beam back to the CR 104 through the same line (ie, the second line 125). The third line 126 corresponds to the LO for the CR 104. Splitter 122 is further configured to separate the returned signal (i.e., the beam received by the optical antenna 105 and reflected from the target) between the first line 123 and the fourth line. 11B, the third line 126 and the fourth line 124 are the transmitted optical signal (received through the third line 126) and the reflected optical signal (the fourth line 124). Is connected to a balance 2x2 (121) configured to mix the transmitted optical signal (received via the fourth line 104) and the reflected optical signal (the fourth line 124). Received via). In the feature shown in FIG. 11C, the third line 126 and the fourth line 124 are coupled to the optical hybrid 129. In addition, the CR 104 includes a photodiode (PD) 127 configured to convert an optical signal into an electrical signal for bit tone detection. For example, the feature shown in FIG. 11B includes a pair of PDs 127, while the feature shown in FIG. 11C includes four PDs 127. The feature described in FIG. 11B may be referred to as “Balanced Photo Diode” (BPD) CR. The BPD CR is configured to provide a single electrical signal output. The feature described in FIG. 11C may be referred to as a “hybrid” CR. The hybrid CR is configured to provide in-phase (I) and quadrature (Q) outputs, which are used to determine the velocity signal from the Doppler shift in the measured bit tone.

12A and 12B show multiple light beams 203 depending on the type of optical antenna 105 (e.g., surface grating coupler 301 as shown in FIG. 12A or edge coupler 302 as shown in FIG. 12B). It shows how the various features of the integrated photonic chip 101 can be configured to emit and receive ). Among various features, the mode field converter can be used as part of the antenna 105 to form the divergence angle of the multiple light beams 203. The exit angle of the light beam may be the same or different depending on the lens system 202 design.

13 is a diagram of a beam steering module arrangement and scanning pattern for a multi-channel FMCW LIDAR system implemented on an integrated photonic chip according to an aspect of the present invention. As shown in Fig. 13, the lens system 202 is configured to generate a collimated beam 204 pointing at different angles when the integrated photonics chip 101 (Figs. 12A and 12B) is placed in the focal plane. A single axis or dual axis beam scanner 201 scans the light beam 204 across the entire FOV. In the example shown, there are four beams 204, but this is for illustration only and should not be construed as limiting. 13 also shows an example of a raster scan pattern in a far field in which four light spots 205 corresponding to four beams 204 are scanned together as a group as a scanning trajectory 206. The scanning steps of a raster scan may be non-uniform (e.g.: denser at the center of the FOV) and become part of the angular range of four points to address the higher resolution requirements at the center.

Example

Various aspects of the subject matter described herein are described in the following numbered embodiments.

Embodiment 1. A LIDAR system for determining a distance and speed of a target, the LIDAR system comprising: a laser configured to output a laser beam; A laser modulator coupled to the laser and configured to modulate the intensity of the laser beam; Optical coupler; An optical splitter coupled to the laser modulator and configured to optically split the modulated laser beam into a first laser beam and a second laser beam; A photo receiver coupled to the optical coupler, and a control circuit coupled to the photo receiver; The optical splitter optically splits the modulated laser beam into a first laser beam and a second laser beam; And directing the first laser beam toward the target such that the first laser beam is reflected by the target to the optical coupler; The optical combiner: receives a first laser beam reflected from a target; Receiving a second laser beam directly from the optical splitter; And optically combining the first laser beam and the second laser beam; The photo receiver is configured to output an I-output and a Q-output according to the optically coupled first and second laser beams; The control circuit: determines a power spectral density (PSD) according to the I-output and the Q-output; Determining the first peak PSD as a positive frequency value; Determine the second peak PSD as a negative frequency value; Determining a nominal beat frequency according to the difference between the positive frequency value and the negative frequency value; Configured to determine a frequency shift from the nominal beat frequency according to the sum of the positive frequency value and the negative frequency value; Where the distance of the target corresponds to the nominal beat frequency; The speed of the target corresponds to the frequency shift.

Example 2. In the LIDAR system of Example 1, the photo receiver includes an I-Q detector.

Example 3. In the LIDAR system of Example 1, the laser modulator is configured to frequency modulate the laser beam output by a laser.

Example 4. In the LIDAR system of Examples 1-3, the optical combiner is configured to generate four output signals, S+L, SL, S+jL, S-jL, based on the input signals S and L. Includes.

Embodiment 5. In the LIDAR system of Embodiment 4, the photo receiver comprises a 4-channel photo receiver configured to receive each of the output signals of the optical hybrid.

Example 6. In the LIDAR system of Examples 1-5, the optical splitter includes a 2x2 coupler.

Example 7. In the LIDAR system of Examples 1-6, further comprising a target arm assembly coupled to the optical splitter, wherein the target arm assembly directs the first laser field toward the target, and the reflected first laser beam is light. It is configured to face the coupler.

Example 8. In the LIDAR system of Example 7, the target arm assembly comprises: receiving a first laser beam from an optical splitter; A circulator configured to direct the reflected first laser beam to the optical coupler; And a scanning optical device coupled to the circulator, the scanning optical device comprising: receiving a first laser beam from the circulator; Directing the first laser beam to the target; Receiving the reflected first laser beam from the target; And is configured to direct the reflected first laser beam to the circulator.

Example 9. In the LIDAR system of Example 8, the scanning optical device is selected from the group consisting of galvanometric scanning mirrors or MEMS-based scanning mirrors. .

Example 10. In the LIDAR system of Example 7, the target arm assembly: receives a first laser beam from an optical splitter; A circulator configured to direct the reflected first laser beam to the optical coupler; And an integrated photonic device coupled to the circulator, the integrated photonic device comprising: receiving a first laser beam from the circulator; Directing the first laser beam at the target; Receiving the reflected first laser beam from the target; And is configured to direct the reflected first laser beam to the circulator.

Example 11. In the LIDAR system of Example 7, the target arm assembly comprises: receiving a first laser beam from an optical coupler; And a 2x2 coupler configured to direct the reflected first laser beam to the optical coupler. And an integrated photonic device coupled to the 2x2 coupler, the integrated photonic device: receiving a first laser beam from the 2x2 coupler; Directing the first laser beam at the target; Receiving the reflected first laser beam from a target; And it is configured to direct the reflected first laser beam to the 2x2 coupler. .

Embodiment 12 A method of determining a distance and speed of a target through a LIDAR system, the method comprising: generating a laser beam by a laser; Modulating the laser beam by a laser modulator; Optically dividing the laser beam modulated by the optical splitter into a first laser beam and a second laser beam; Directing the first laser beam by the optical splitter toward the target so that the first laser beam is reflected by the target to an optical combiner; Receiving, by an optical combiner, a first laser beam reflected from the target; Receiving, by the optical combiner, a second laser beam directly from the optical splitter; Optically combining the laser reflected first and second laser beams by an optical combiner; Outputting an I-output and a Q-output according to the reflected first and second laser beams optically coupled by the photo receiver; Determining a power spectral density (PSD) according to the I-output and the Q-output by a control circuit connected to the photo receiver; Determining a first peak PSD as a positive frequency value by a control circuit; Determining a second peak PSD as a negative frequency value by a control circuit; Determining, by the control circuitry, a nominal beat frequency according to the difference between the positive frequency value and the negative frequency value; And determining, by the control circuitry, a frequency shift from the nominal beat frequency according to the sum of the positive frequency value and the negative frequency value, wherein the distance of the target corresponds to the nominal beat frequency; The speed of the target corresponds to the frequency shift.

Example 13. In the method of Example 12, the photo receiver comprises an I-Q detector.

Embodiment 14. In the method of embodiment 12 or 13, the laser modulator is configured to frequency modulate the laser output by the laser.

Example 15. In the method of Examples 12-14, the optical combiner comprises an optical hybrid configured to generate four output signals: S+L, SL, S+jL, S-jL based on the input signals S and L. Include.

Embodiment 16. In the method of embodiment 15, the photo receiver comprises a four channel photo receiver configured to receive each of the output signals of the optical hybrid.

Example 17 In the method of Examples 12-16, the optical splitter includes a 2x2 coupler. .

Embodiment 18. In the method of Embodiments 12-17, the LIDAR system includes a target arm assembly coupled to the optical splitter, wherein the target arm assembly directs a first laser beam toward the target, and the reflected It is configured to direct a first laser beam towards the optical coupler.

Example 19. The method of Example 18, comprising: receiving a first laser beam from an optical splitter by a circulator of a target arm assembly; Directing the first laser beam reflected by the circulator to an optical coupler; Receiving a first laser beam from the circulator by means of the scanning optics of the target arm assembly; Directing the first laser beam at the target by means of the scanning optics; Directing, by the scanning optics device, a first laser beam reflected from the target toward the target; And directing the first laser beam reflected by the scanning optics device toward the circulator.

Embodiment 20. In the method of Embodiment 19, the scanning optical device is selected from the group consisting of galvanometric scanning mirrors or MEMS-based scanning mirrors.

Example 21. The method of Example 18, comprising: receiving a first laser beam from an optical splitter by a circulator of a target arm assembly; Directing the first laser beam reflected by the circulator to an optical coupler; Receiving a first laser beam from the circulator by the integrated photonic device of the target arm assembly; Directing the first laser beam at the target by the integrated photonic device; Receiving, by the integrated photonic device, the reflected first laser beam from the target; And the first laser beam reflected by the integrated photonic device

Example 22. The method of Example 18, comprising: receiving, by a circulator of a target arm assembly, a first laser beam from an optical splitter; Directing, by a circulator, the reflected first laser beam to an optical coupler; Receiving, by a 2x2 coupler of the target arm assembly, a first laser beam from the circulator; Directing the first laser beam to the target by a 2x2 coupler; Receiving, by a 2x2 coupler, a first laser beam reflected from the target; And by the 2x2 coupler, directing the reflected first laser beam to a circulator.

Example 23. A LIDAR system for determining the distance and speed of a target, the LIDAR system comprising: a laser bank, an optical coupler, a photo receiver, and a control circuit, wherein the laser bank is a first laser having a positive frequency sweep A first laser configured to output a beam; A second laser configured to output a second laser beam having a negative frequency sweep; The laser bank is configured to generate a laser field from a first laser beam and a second laser beam; An optical coupler is coupled to the laser bank, the optical coupler; Directing a first portion of the laser field toward the target so that the first portion of the laser field is reflected by the target with the optical coupler; Direct the second portion of the laser field to the optical coupler; The optical combiner: receives the reflected first portion of the laser field; And configured to optically couple the reflected first portion of the laser field and the second portion of the laser field; The photo receiver is coupled to the optical coupler, the photo receiver is configured to output an I-output and a Q-output according to the optically coupled portion of the laser field; The control circuit is coupled to a photo receiver, the control circuit: determining a power spectral density (PSD) according to an I-output and a Q-output; Determining a first peak PSD as a positive frequency value; Determine a second peak PSD with a negative frequency value; Determining a nominal PSD frequency according to the difference between the positive frequency value and the negative frequency value; And determining a frequency shift from the nominal PSD frequency according to the sum of the positive frequency value and the negative frequency value; Where the distance of the target corresponds to the nominal PSD frequency; The speed of the target corresponds to the frequency shift.

Example 24. In the LIDAR system of Example 23, the photo receiver includes an I-Q detector.

Example 25. In the LIDAR system of Examples 23 or 24, the laser bank includes an Nx1 incoherent coupler coupled to each of the first laser and the second laser.

Example 26. In the LIDAR system of Examples 23-25, the optical combiner was configured to generate four output signals, S+L, SL, S+jL, S-jL, based on the input signals S and L. Includes.

Embodiment 27. In the LIDAR system of embodiment 26, the photo receiver includes a 4-channel photo receiver configured to receive each of the output signals of the optical hybrid.

Example 28. In the LIDAR system of Examples 23-27, the optical coupler includes a 2x2 coupler.

Example 29. In the LIDAR system of Examples 23-28, further comprising a target arm assembly coupled to the optical coupler, wherein the target arm assembly directs the first portion of the laser field toward the target, and One part is configured to face the optical coupler.

Example 30. In the LIDAR system of Example 29, the target arm assembly comprises: receiving a first laser beam from an optical coupler; A circulator configured to direct the reflected first laser beam to the optical coupler; And a scanning optical device coupled to the circulator, the scanning optical device comprising: receiving a first laser beam from the circulator; Directing the first laser beam at the target; Receiving the reflected first laser beam from the target; And is configured to direct the reflected first laser beam to the circulator.

Example 31. In the LIDAR system of Example 30, the scanning optics device is selected from the group consisting of a galvanometric scanning mirror, a MEMS-based scanning mirror, or a solid state light scanner.

Example 32. In the LIDAR system of Example 29, receiving a first laser beam from an optical coupler; A circulator configured to direct the reflected first laser beam to the optical coupler; And an integrated photonic device coupled to the circulator, the integrated photonic device comprising: receiving a first laser beam from the circulator; Directing the first laser beam at the target;

Receiving the reflected first laser beam from the target; And is configured to direct the reflected first laser beam to the circulator.

Example 33. In the LIDAR system of Example 29, the target arm assembly comprises: receiving a first laser beam from an optical coupler; And a 2x2 coupler configured to direct the reflected first laser beam to the optical coupler. And an integrated photonic device coupled to the 2x2 coupler, the integrated photonic device: receiving a first laser beam from the 2x2 coupler; Directing the first laser beam at the target; Receiving the reflected first laser beam from a target; And it is configured to direct the reflected first laser beam to the 2x2 coupler.

Example 34. In the LIDAR system of Examples 23-33, the first laser is further configured to output a third laser beam having a negative frequency sweep; And the second laser is further configured to output a fourth laser beam having a positive frequency sweep.

Example 35. A method of determining a distance and velocity of a target through a LIDAR system, comprising: generating a first laser beam with a first frequency sweep and a second laser beam with a second frequency sweep by a laser bank; Directing, by the optical coupler, the first portion of the laser field towards the target such that the first portion of the laser field is reflected by the target to the optical coupler; Receiving, by an optical combiner, a first portion of the laser field reflected from the target; Receiving, by an optical coupler, a second portion of the laser field directly from the optical coupler; Optically coupling, by an optical coupler, the reflected first portion of the laser field and the second portion of the laser field; The photo receiver outputting an I-output and a Q-output according to the optically coupled portion of the laser field; Determining a power spectral density (PSD) according to the I-output and the Q-output by a control circuit connected to the photo receiver; Determining a first peak PSD at the positive frequency value by the control circuit; Determining a second peak PSD at the negative frequency value by the control circuit; Determining, by the control circuitry, a nominal beat frequency according to the difference between the positive frequency value and the negative frequency value; And determining, by the control circuit, a frequency shift from the nominal beat frequency according to the sum of the positive frequency value and the negative frequency value; Where the distance of the target corresponds to the nominal beat frequency; The speed of the target corresponds to the frequency shift.

Embodiment 36. In the method of embodiment 35, the photo receiver comprises an I-Q detector.

Example 37. In the method of Examples 35-36, the laser bank includes an Nx1 incoherent coupler coupled to each of the first laser and the second laser.

Example 38. In the method of Examples 35-37, the optical combiner comprises an optical hybrid configured to generate four output signals: S+L, SL, S+jL, S-jL based on the input signals S and L. Include.

Embodiment 39. In the method of embodiment 38, the photo receiver comprises a 4-channel photo receiver configured to receive each of the output signals of the optical hybrid.

Example 40. In the method of Examples 35-39, the optical coupler includes a 2x2 coupler.

Example 41. In the method of Examples 35-40, the LIDAR system includes a target arm assembly coupled to the optical coupler, wherein the target arm assembly directs a first laser beam toward the target, and the reflected It is configured to direct a first laser beam towards the optical coupler.

Example 42. The method of Example 41, comprising: receiving a first portion of a laser field from an optical coupler by a target arm assembly; Directing the reflected first laser field of the laser field to an optical coupler by a circulator; Receiving a first portion of the laser field from the circulator by means of the scanning optics of the target arm assembly; Directing the first portion of the laser field towards the target by means of the scanning optics; Receiving, by the scanning optics device, a reflected first portion of the laser field from the target; And directing the reflected first portion of the laser field to the circulator by means of the scanning optics.

Example 43. In the method of Example 42, the scanning optical device is selected from the group consisting of a galvanometric scanning mirror, a MEMS-based scanning mirror, or a solid state light scanner.

Example 44. The method of Example 41, comprising: receiving a first portion of a laser field from an optical coupler by a circulator of a target arm assembly; Directing the reflected first portion of the laser field by a circulator to an optical coupler; Receiving a first portion of the laser field from the circulator by an integrated photonic device of the target arm assembly; Directing the first portion of the laser field at the target by the integrated photonic device; Receiving, by the integrated photonic device, the reflected first portion of the laser field from the target; And directing the reflected first portion of the laser field to the circulator by the integrated photonic device.

Example 45. The method of Example 41, comprising: receiving, by a circulator of the target arm assembly, a first portion of the laser field from the optical coupler; Directing, by a circulator, the reflected first portion of the laser field to an optical coupler; Receiving, by a 2x2 coupler of the target arm assembly, a first portion of the laser field from the circulator; Directing, by a 2x2 coupler, a first portion of the laser field at the target; Receiving, by a 2x2 coupler, the reflected first portion of the laser field from the target; And by a 2x2 coupler, directing the reflected first part of the laser field to the circulator.

Example 46. A photonics assembly coupleable to a beam steering module, the photonics assembly comprising: an optical system configured to receive a frequency modulated laser beam, the optical system comprising: an optical splitter coupleable to the beam steering module, , The optical splitter: optically splits the frequency modulated laser beam into a local laser beam and a target laser beam; And transmitting the target laser beam to the beam steering module; Receiving a target laser beam reflected by the target from the beam steering module; And a coherent receiver coupled to the optical splitter, the coherent receiver comprising: receiving a local laser beam from the optical splitter; Receiving the reflected target laser beam from the optical splitter; The local laser beam and the target laser beam are mixed to generate an output signal.

Example 47. The optical splitter of Example 46, comprising an optical power tap configured to optically split the frequency modulated laser beam into a local laser beam and a target laser beam.

Example 48. The photonics assembly of Examples 46 or 47, wherein the optical splitter: delivers a target laser beam to a beam steering module; Receiving a target laser beam reflected by the target from the beam steering module; And an optical circulator configured to deliver the reflected target laser beam to the coherent receiver.

Example 49. The photonics assembly of any of Examples 46-48, wherein the photonics assembly includes an integrated photonic chip.

Embodiment 50. The photonics assembly of any one of Embodiments 46-49, further comprising a beam steering module.

Example 51. The photonics assembly of Example 50, wherein the beam steering module comprises: a beam scanner; And an optical lens system, wherein the optical lens system: receives a target laser beam from an optical splitter; Projecting a target laser beam with a beam scanner; Receiving the reflected target laser beam from the beam scanner; The reflected target laser beam is directed to a light splitter.

Example 52. The photonics assembly of any one of Examples 46-49, wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises the first frequency modulated laser beam, and the optical splitter is provided. 1 optical splitter, wherein the coherent receiver comprises a first coherent receiver, and the photonics assembly is configured to receive a second frequency modulated laser beam simultaneously when the first frequency modulated laser beam is received by the first optical system. A second optical system configured, the second optical system comprising: a second optical splitter capable of being coupled to the beam steering module-the second optical splitter comprising: a second frequency modulated laser beam to a second local laser beam And optically splitting into a second target laser beam; Deliver the second target laser beam to the beam steering module; Receiving a second target laser beam reflected by the target from the beam steering module; And a second coherent receiver coupled to the second optical splitter, the second coherent receiver comprising: receiving a second local laser beam from the second optical splitter; Receiving the reflected second target laser beam from the second optical splitter; And mixing the second local laser beam and the second target laser beam to generate a second output signal.

Example 53. The photonics assembly of Example 52, further comprising a beam steering module.

Example 54. The photonics assembly of Example 53, wherein the beam steering module comprises: a beam scanner; Beam scanner; And an optical lens system, wherein the optical lens system is configured to: receive the first target laser beam and the second target laser beam from each of the first optical splitter and the second optical splitter; Projecting the first target laser beam and the second target laser beam onto the beam scanner; Receiving the reflected first target laser beam and the reflected second target laser beam from the beam scanner; And it is configured to direct the reflected first target laser beam and the reflected second target laser beam to the first optical splitter and the second optical splitter, respectively.

Embodiment 55. The photonics assembly of embodiment 53, wherein the beam steering module comprises: a first beam scanner; A first optical lens system; Further comprising a second beam scanner and a second optical lens system,

The first optical lens system comprises: receiving a first target laser beam from a first optical splitter; Projecting the first target laser beam onto the first beam scanner; Receiving the reflected first target laser beam from the first beam scanner; And configured to direct the reflected first target laser beam to a first optical splitter; The second optical lens system comprises: receiving a second target laser beam from a second optical splitter; Projecting a second target laser beam onto a second beam scanner; Receiving the reflected second target laser beam from the second beam scanner; And it is configured to direct the reflected second target laser beam to a second optical splitter.

Embodiment 56. The photonics assembly of any one of Embodiments 46-55, wherein the output signal includes an I-channel signal and a Q-channel signal.

Example 57. In the photonics assembly of any of Examples 46-56, the coherent receiver includes an optical hybrid.

Example 58 In the photonics assembly of any of Examples 46-56, a coherent receiver includes a pair of balanced photodiodes configured to output an output signal.

Example 59. A method of scanning a target environment through a photonics assembly comprising an optical system, wherein the optical system comprises an optical splitter and a coherent receiver coupled to the optical splitter, wherein the method comprises frequency modulation by the optical system. Receiving a laser beam; Optically dividing the frequency modulated laser beam into a local laser beam and a target laser beam by an optical splitter; Transmitting a target laser beam to a beam steering module by an optical splitter; Receiving, by an optical splitter, a target laser beam reflected from the beam steering module; Receiving, by a coherent receiver, a local laser beam from the optical splitter; Receiving, by a coherent receiver, a target laser beam reflected from the optical splitter; And generating, by the coherent receiver, an output signal by mixing the local laser beam and the target laser beam.

Example 60. The method of Example 59, wherein the optical splitter comprises an optical power tap configured to optically split the frequency modulated laser beam into a local laser beam and a target laser beam.

Embodiment 61. The method of Embodiments 59 or 60, wherein the optical splitter comprises an optical circulator, and the method comprises: delivering a target laser beam to a beam steering module by the optical circulator; Receiving, by an optical circulator, a target laser beam reflected by the target from the beam steering module; And delivering the reflected target laser beam to a coherent receiver by an optical circulator.

Example 62. The photonics assembly as in any of Examples 59-61, including an integrated photonic chip.

Example 63. The photonics assembly according to any one of Examples 59-62, further comprising a beam steering module.

Embodiment 64. The method of embodiment 63, wherein the beam steering module further comprises a beam scanner and an optical lens system, the method comprising: receiving a target laser beam from the optical splitter by the optical lens system; Projecting the target laser beam to a beam scanner by an optical lens system; Receiving the reflected target laser beam from the beam scanner by the optical lens system; And directing the target laser beam reflected by the optical lens system to the optical splitter.

Example 65. The optical system according to any of Examples 59-62, wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises a first frequency modulated laser beam, and the optical splitter comprises a first optical splitter. And the coherent receiver comprises a first coherent receiver, the method comprising: sending a second frequency modulated laser beam to a second optical system while the first frequency modulated laser beam is received by the first optical system. Receiving by; Optically splitting the second frequency modulated laser beam into a second local laser beam and a second target laser beam by an optical splitter; Transmitting, by an optical splitter, a second target laser beam to a beam steering module; Receiving, by the optical splitter, a second target laser beam reflected by the target from the beam steering module; Receiving, by a second coherent receiver, a second local laser beam from a second optical splitter; Receiving, by a second coherent receiver, a reflected second target laser beam from a second optical splitter; And, by the second coherent receiver, mixing the second local laser beam and the second target laser beam to generate a second output signal.

Example 66. The method of Example 65, wherein the photonics assembly further comprises a beam steering module.

Embodiment 67. The method of embodiment 66, wherein the beam steering module further comprises a beam scanner and an optical lens system, the method comprising: a first optical splitter and a second optical splitter, respectively, by the optical lens system. Receiving a first target laser beam and a second target; Projecting, by the optical lens system, a first target laser beam and a second target laser beam onto a beam scanner; Receiving, by the optical lens system, a reflected first target laser beam and a reflected second target laser beam from the beam scanner; And directing the reflected first target laser beam and the reflected second target laser beam to each of the first optical splitter and the second optical splitter, by an optical lens system.

Embodiment 68. The method of embodiment 66, wherein the beam steering module further comprises a first beam scanner, a first optical lens system, a second beam scanner, and a second optical lens system,

The method comprises receiving, by a first optical lens system, a first target laser beam from a first optical splitter; Projecting, by a first optical lens system, a first target laser beam to a first beam scanner; Receiving, by a first optical lens system, the reflected first target laser beam from a first beam scanner; Directing, by a first optical lens system, the reflected first target laser beam to a first optical splitter; Receiving, by a second optical lens system, a second target laser beam from a second optical splitter; Projecting, by a second optical lens system, a second target laser beam to a second beam scanner; Receiving, by a second optical lens system, the reflected second target laser beam from a second beam scanner; And directing the reflected second target laser beam to a second optical splitter by a second optical lens system.

Embodiment 69. The method of any one of Embodiments 59-68, wherein the output signal includes an I-channel signal and a Q-channel signal.

Embodiment 70. In the method of any of embodiments 59-69, the coherent receiver includes an optical hybrid.

Embodiment 71 The method of any of embodiments 59-70, wherein the coherent receiver comprises a pair of balanced (balanced) photodiodes configured to output an output signal.

While various forms have been illustrated and described, it is not the applicant's intention to limit or limit the scope of the appended claims to the details set forth above. Those skilled in the art will understand that numerous modifications, changes, alterations, substitutions, combinations, and equivalents to the embodiments described herein may be implemented and are beyond the scope of the present invention. Moreover, the structure of each element related to the described embodiment may alternatively be described as a means for providing a function performed by each element. It will also be understood that other materials may be used, even if materials for a particular component are disclosed. Accordingly, it is to be understood that the foregoing description and appended claims are intended to cover all modifications, combinations and variations that fall within the scope of the disclosed embodiments. The appended claims are intended to cover all such modifications, changes, alterations, substitutions, modifications and equivalents.

In the detailed description described above, various types of devices and/or processes have been described using block diagrams, flow charts, and/or examples. Each function and/or operation within such a block diagram, flow diagram, and/or example includes one or more functions and/or operations in a broad range of hardware, software, firmware, or almost any combination thereof. Individually and/or collectively. Those skilled in the art may have some features of the embodiments disclosed herein, in whole or in part, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), running on one or more processors. It will be appreciated that as one or more programs running on one or more microprocessors (eg, as one or more programs running on one or more microprocessors), as firmware or in fact a combination thereof, can be implemented equivalently in an integrated circuit. Writing code for circuit design and/or software and/or firmware is within the skill of a person skilled in the art in light of the present disclosure. In addition, one of ordinary skill in the art may distribute the mechanisms of the subject matter described in this specification as one or more program products in various forms, and the exemplary embodiments of the subject matter described herein may actually be used to perform the distribution. Can be applied regardless of the specific type of bearing medium.

As used in any aspect of this specification, the term "control circuit" refers to, for example, a hard wired circuit, a programmable circuit (e.g., one or more individual instruction processing cores, processing units, processors, microcontrollers, Computer processors including microcontroller units, controllers, digital signal processors (DSPs), programmable logic units (PLDs), programmable logic arrays (PLAs) or field programmable gate arrays (FPGAs)), state machine circuits, programmable Refers to firmware that stores instructions executed by the circuit and any combination thereof. The control circuits can be implemented collectively or individually as circuits that form part of a larger system. For example, integrated circuits (ICs), application specific integrated circuits (ASICs), system on a chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. Therefore, as used herein, "control circuit" is an electric circuit having at least one individual electric circuit, an electric circuit having at least one integrated circuit, an electric circuit having at least one application-specific integrated circuit, a general purpose constructed by a computer program. The electrical circuits that form the computing device (e.g., a general purpose computer constructed by a computer program at least partially performing the described processes and/or devices, or at least partially performing the processes and/or devices described herein. Microprocessors configured by computer programs), and/or electrical circuits that form communication devices (eg, modems, communication switches or opto-electrical equipment). Those of skill in the art will recognize that the subject matter described herein may be implemented in an analog or digital manner, or some combination thereof.

As used among any of the features of this specification, terms such as "component", "system", "module" are referred to as hardware, a combination of hardware and software, software or a computer-related entity that is software in execution.

One or more components may be referred to herein as “configured”, “configurable”, “operable/operable”, “adaptable/adaptable”, “enabled”, “adaptable/compliant”, and the like. Those skilled in the art will recognize that, unless the context requires otherwise, "configured" may generally include active and/or inactive components and/or standby components.

Claims (26)

As a photonics assembly that can be combined with a beam steering module,
The photonics assembly includes: an optical system configured to receive a frequency modulated laser beam, the optical system comprising:
And an optical splitter coupled to the beam steering module, the optical splitter: optically splitting the frequency modulated laser beam into a local laser beam and a target laser beam;
Deliver the target laser beam to the beam steering module; And
Receiving a target laser beam reflected by the target from the beam steering module; And a coherent receiver coupled to the optical splitter, the coherent receiver:
Receiving a local laser beam from the optical splitter;
Receiving the reflected target laser beam from the optical splitter; And
A photonics assembly that combines a local laser beam and a target laser beam to produce an output signal. The photonics assembly of claim 1, wherein the optical splitter comprises an optical power tap configured to optically split the frequency modulated laser beam into a local laser beam and a target laser beam. The optical splitter of claim 1, wherein:
Delivering the target laser beam to the beam steering module;
Receiving a target laser beam reflected by the target from the beam steering module; And an optical circulator configured to deliver the reflected target laser beam to a coherent receiver. The photonics assembly of claim 1, wherein the photonics assembly comprises an integrated photonic chip. The photonics assembly according to claim 1, further comprising a beam steering module. The method of claim 5, wherein the beam steering module comprises: a beam scanner; And an optical lens system,
The optical lens system:
Receiving a target laser beam from the optical splitter;
Projecting a target laser beam with a beam scanner;
Receiving the reflected target laser beam from the beam scanner; And
A photonics assembly, characterized in that the reflected target laser beam is directed to an optical splitter. The method of claim 1, wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises a first frequency modulated laser beam, the optical splitter comprises a first optical splitter, and the coherent receiver is 1 coherent receiver, the photonics assembly comprising:
A second optical system configured to receive a second frequency modulated laser beam simultaneously when the first frequency modulated laser beam is received by the first optical system, the second optical system:
It comprises a second optical splitter that can be coupled to the beam steering module-the second optical splitter:
Optically splitting the second frequency modulated laser beam into a second local laser beam and a second target laser beam;
Deliver the second target laser beam to the beam steering module;
Receiving a second target laser beam reflected by the target from the beam steering module; And
A second coherent receiver coupled to the second optical splitter, wherein the second coherent receiver:
Receiving a second local laser beam from the second optical splitter;
Receiving the reflected second target laser beam from the second optical splitter;
A photonics assembly, configured to mix the second local laser beam and the second target laser beam to generate a second output signal. 8. The photonics assembly of claim 7, further comprising a beam steering module. The method of claim 8, wherein the beam steering module comprises: a beam scanner;
Beam scanner; And further comprising an optical lens system, wherein the optical lens system:
Receiving the first target laser beam and the second target laser beam from each of the first optical splitter and the second optical splitter;
Projecting the first target laser beam and the second target laser beam onto the beam scanner;
Receiving the reflected first target laser beam and the reflected second target laser beam from the beam scanner; And
A photonics assembly, characterized in that, configured to direct the reflected first target laser beam and the reflected second target laser beam to a first optical splitter and a second optical splitter, respectively. The apparatus of claim 8, wherein the beam steering module comprises: a first beam scanner; A first optical lens system; Further comprising a second beam scanner and a second optical lens system,
The first optical lens system:
Receiving a first target laser beam from the first optical splitter; Projecting the first target laser beam onto the first beam scanner;
Receiving the reflected first target laser beam from the first beam scanner; And
Configured to direct the reflected first target laser beam to a first optical splitter;
The second optical lens system:
Receiving a second target laser beam from a second optical splitter; Projecting a second target laser beam onto a second beam scanner;
Receiving the reflected second target laser beam from the second beam scanner; And
Photonics assembly, characterized in that configured to direct the reflected second target laser beam to a second optical splitter. The photonics assembly of claim 1, wherein the output signal comprises an I-channel signal and a Q-channel signal. The photonics assembly of claim 1 wherein the coherent receiver comprises an optical hybrid. The photonics assembly of claim 1, wherein the coherent receiver comprises a pair of balanced photodiodes configured to output an output signal. A method of scanning a target environment through a photonics assembly comprising an optical system, the optical system comprising an optical splitter and a coherent receiver coupled to the optical splitter, the method comprising:
Receiving a frequency modulated laser beam by an optical system;
Optically dividing the frequency modulated laser beam into a local laser beam and a target laser beam by an optical splitter;
Transmitting a target laser beam to a beam steering module by an optical splitter;
Receiving, by an optical splitter, a target laser beam reflected from the beam steering module;
Receiving, by a coherent receiver, a local laser beam from the optical splitter; Receiving, by a coherent receiver, a target laser beam reflected from the optical splitter; And
Mixing, by a coherent receiver, a local laser beam and a target laser beam to generate an output signal. 15. The method of claim 14, wherein the optical splitter comprises an optical power tap configured to optically split the frequency modulated laser beam into a local laser beam and a target laser beam. The method of claim 14, wherein the optical splitter comprises an optical circulator, the method comprising:
Delivering a target laser beam to a beam steering module by an optical circulator;
Receiving, by an optical circulator, a target laser beam reflected by the target from the beam steering module; And
And passing the reflected target laser beam to a coherent receiver by an optical circulator. 15. The method of claim 14, wherein the photonics assembly comprises an integrated photonic chip. 15. The method of claim 14, wherein the photonics assembly further comprises a beam steering module. The method of claim 18, wherein the beam steering module further comprises a beam scanner and an optical lens system, the method comprising:
Receiving a target laser beam from an optical splitter by an optical lens system; Projecting the target laser beam to a beam scanner by an optical lens system;
Receiving the reflected target laser beam from the beam scanner by the optical lens system; And
And directing a target laser beam reflected by the optical lens system to an optical splitter. The method of claim 14, wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises a first frequency modulated laser beam, the optical splitter comprises a first optical splitter, and the coherent receiver is 1 coherent receiver, the method comprising:
Receiving a second frequency modulated laser beam by a second optical system at the same time as the first frequency modulated laser beam is received by the first optical system;
Optically splitting the second frequency modulated laser beam into a second local laser beam and a second target laser beam by an optical splitter;
Transmitting, by an optical splitter, a second target laser beam to a beam steering module; Receiving, by the optical splitter, a second target laser beam reflected by the target from the beam steering module;
Receiving, by a second coherent receiver, a second local laser beam from a second optical splitter;
Receiving, by a second coherent receiver, a reflected second target laser beam from a second optical splitter; And
And generating a second output signal by mixing, by a second coherent receiver, the second local laser beam and the second target laser beam. 21. The method of claim 20, wherein the photonics assembly further comprises a beam steering module. 22. The method of claim 21, wherein the beam steering module further comprises a beam scanner and an optical lens system, the method comprising:
Receiving, by an optical lens system, a first target laser beam and a second target from each of the first optical splitter and the second optical splitter;
Projecting, by the optical lens system, a first target laser beam and a second target laser beam onto a beam scanner;
Receiving, by the optical lens system, a reflected first target laser beam and a reflected second target laser beam from the beam scanner; And
Directing the reflected first target laser beam and the reflected second target laser beam to each of the first optical splitter and the second optical splitter by an optical lens system, further comprising: How to. 22. The method of claim 21, wherein the beam steering module further comprises a first beam scanner, a first optical lens system, a second beam scanner and a second optical lens system, the method comprising:
Receiving, by a first optical lens system, a first target laser beam from a first optical splitter;
Projecting, by a first optical lens system, a first target laser beam to a first beam scanner;
Receiving, by a first optical lens system, the reflected first target laser beam from a first beam scanner;
Directing, by a first optical lens system, the reflected first target laser beam to a first optical splitter;
Receiving, by a second optical lens system, a second target laser beam from a second optical splitter;
Projecting, by a second optical lens system, a second target laser beam to a second beam scanner;
Receiving, by a second optical lens system, the reflected second target laser beam from a second beam scanner; And
And directing the reflected second target laser beam to a second optical splitter by a second optical lens system. 15. The method of claim 14, wherein the output signal comprises an I-channel signal and a Q-channel signal. 15. The method of claim 14, wherein the coherent receiver comprises an optical hybrid. 15. The method of claim 14, wherein the coherent receiver comprises a pair of balanced photodiodes configured to output an output signal.

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